Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors

This study describes how fuzzy logic control FLC can be applied to sonars of mobile robot. The fuzzy logic approach has effects on the navigation of mobile robots in a partially known environment that are used in different industrial and society applications. The fuzzy logic provides a mechanism fo...

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Autores principales:	Nabeel K. Abid Al- Sahib, Ahmed Rahman Jasim
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2010
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/be928cd4b66f47209911d8872d90771f
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spelling	oai:doaj.org-article:be928cd4b66f47209911d8872d90771f2021-12-02T07:32:58ZGuiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors1818-11712312-0789https://doaj.org/article/be928cd4b66f47209911d8872d90771f2010-09-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/501https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 This study describes how fuzzy logic control FLC can be applied to sonars of mobile robot. The fuzzy logic approach has effects on the navigation of mobile robots in a partially known environment that are used in different industrial and society applications. The fuzzy logic provides a mechanism for combining sensor data from all sonar sensors which present different information. The FLC approach is achieved by means of Fuzzy Decision Making method type of fuzzy logic controller. The proposed controller is responsible for the obstacle avoidance of the mobile robot while traveling through a map from a home point to a goal point. The FLC is built as a subprogram based on the intelligent architecture (IA). The software program uses the Advanced Robotics Interface for Applications (ARIA), it is programmed with C++ package ( Visual C++.Net ), and Networking software is used for setup Wireless TCP/IP Ethernet-to-Serial connection between robot and PC. The results show that the developed mobile robot travels successfully from one location to another and reaches its goal after avoiding all obstacles that are located in its way. The platform mobile robot is a Pioneer 3 DX that is equipped with Sonar sensors. Nabeel K. Abid Al- SahibAhmed Rahman JasimAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 6, Iss 3 (2010)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Nabeel K. Abid Al- Sahib Ahmed Rahman Jasim Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors
description	This study describes how fuzzy logic control FLC can be applied to sonars of mobile robot. The fuzzy logic approach has effects on the navigation of mobile robots in a partially known environment that are used in different industrial and society applications. The fuzzy logic provides a mechanism for combining sensor data from all sonar sensors which present different information. The FLC approach is achieved by means of Fuzzy Decision Making method type of fuzzy logic controller. The proposed controller is responsible for the obstacle avoidance of the mobile robot while traveling through a map from a home point to a goal point. The FLC is built as a subprogram based on the intelligent architecture (IA). The software program uses the Advanced Robotics Interface for Applications (ARIA), it is programmed with C++ package ( Visual C++.Net ), and Networking software is used for setup Wireless TCP/IP Ethernet-to-Serial connection between robot and PC. The results show that the developed mobile robot travels successfully from one location to another and reaches its goal after avoiding all obstacles that are located in its way. The platform mobile robot is a Pioneer 3 DX that is equipped with Sonar sensors.
format	article
author	Nabeel K. Abid Al- Sahib Ahmed Rahman Jasim
author_facet	Nabeel K. Abid Al- Sahib Ahmed Rahman Jasim
author_sort	Nabeel K. Abid Al- Sahib
title	Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors
title_short	Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors
title_full	Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors
title_fullStr	Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors
title_full_unstemmed	Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors
title_sort	guiding mobile robot by applying fuzzy approach on sonar sensors
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2010
url	https://doaj.org/article/be928cd4b66f47209911d8872d90771f
work_keys_str_mv	AT nabeelkabidalsahib guidingmobilerobotbyapplyingfuzzyapproachonsonarsensors AT ahmedrahmanjasim guidingmobilerobotbyapplyingfuzzyapproachonsonarsensors
_version_	1718399363310419968

Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors

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